commit 342b85e08c497c5e3f7687eb334b05f82a75b047
author Nathan Leong <100028864@mvla.net> Sun Jan 08 13:49:33 2023 -0800
committer Nathan Leong <100028864@mvla.net> Wed Jan 18 19:44:48 2023 -0800
tree f681190e127e932f4a8830fd7982e90a93f54b90
parent 4afefdb6d5038cc44d4c39b1dc50ffaae31f0467

Added units per volt ratio constants

This reverts commit 00c730d45e241e494d8c22b52340769ea9a83a9a.

Reason for revert: Works again.

Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: Ia1f340c69586cc0ef417408b99eee7fc6b4fa4fb

y2022/constants.cc

diff --git a/y2022/constants.cc b/y2022/constants.cc
index 913525f..21ba9e4 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -10,6 +10,7 @@
 #include "absl/base/call_once.h"
 #include "aos/mutex/mutex.h"
 #include "aos/network/team_number.h"
+#include "frc971/wpilib/wpilib_utils.h"
 #include "glog/logging.h"
 #include "y2022/control_loops/superstructure/catapult/integral_catapult_plant.h"
 #include "y2022/control_loops/superstructure/climber/integral_climber_plant.h"
@@ -363,6 +364,47 @@
       LOG(FATAL) << "unknown team: " << team;
   }
 
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      Values::kClimberRange(), climber->potentiometer_offset,
+      [](double meters) { return meters / Values::kClimberPotMetersPerVolt(); },
+      false))
+      << "Couldn't translate climber pot";
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      Values::kFlipperArmRange(), flipper_arm_left->potentiometer_offset,
+      [](double radians) {
+        return radians / Values::kFlipperArmsPotRadiansPerVolt();
+      },
+      false))
+      << "Couldn't translate flipper left pot";
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      Values::kFlipperArmRange(), flipper_arm_right->potentiometer_offset,
+      [](double radians) {
+        return radians / Values::kFlipperArmsPotRadiansPerVolt();
+      },
+      true))
+      << "Couldn't translate flipper right pot";
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      Values::kIntakeRange(), intake_front->potentiometer_offset,
+      [](double radians) {
+        return radians / Values::kIntakePotRadiansPerVolt();
+      },
+      true))
+      << "Couldn't translate front intake pot";
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      Values::kIntakeRange(), intake_back->potentiometer_offset,
+      [](double radians) {
+        return radians / Values::kIntakePotRadiansPerVolt();
+      },
+      true))
+      << "Couldn't translate back intake pot";
+  CHECK(frc971::wpilib::SafePotVoltageRange(
+      *turret_range, turret->potentiometer_offset,
+      [](double radians) {
+        return radians / Values::kTurretPotRadiansPerVolt();
+      },
+      false))
+      << "Couldn't translate turret pot";
+
   return r;
 }